| Summary: | 碩士 === 國立成功大學 === 電機工程研究所 === 84 === In this thesis, a path planning method using fuzzy logic
control and a potential field for an automatic guided vehicle
(AGV) is proposed. The design and partial implementation of an
AGV prototype are also presented. From a top view image of an
environment, the chamfer distance transform is used to build
the artificial potential field. The potential field method is
used to calculate the repulsive force between the vehicle and
the closest obstacle, and the attractive force generated by the
goal. Then the resultant force guides the mobile vehicle to its
destination. When trap situations occur and the AGV may not
reach the goal or even collide the obstacles, a fuzzy logic
controller is proposed to modify the direction of the move of
the AGV. Based on the angle between the obstacle and the goal,
and the status of the AGV, a correction angle is generated by
the simple fuzzy rules. Fuzzy logic control with the
characteristic of simulating human thinking renders the path of
the AGV smoother and safer. An prototype of the experimental
AGV was built by modifying a consumer model car. The built
mobile vehicle was shown to track the desired trajectories
successfully according to the path planning algorithm we
proposed. A series of simulations based on window-frame type
environments and environments with geometric obstacles show
that the fuzzy logic control is able to make the AGV escape
from trap situations and generate a smoother and safer
trajectory.
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